JP4582449B2 - Communication device - Google Patents

Description

  The present invention transmits the operation information in the form of a message or form replacing the operation expression to be transmitted to the other device connected to the communication line via the communication line, while being transmitted from the other device. The present invention relates to a communication apparatus that enables mutual transmission of motion expressions by restoring the motion information into motion expressions.

Conventionally, a robot that uses a communication line and synchronizes the form, movement, position, etc. of a plurality of robots that are connected to this communication line and are located remotely, and establishes communication between people via the robot Has been proposed (see Patent Document 1). In particular, this robot functions as a communication device that enables real-time communication between people in remote locations.
JP 2003-305669 A

Such a conventional communication device is mainly intended to synchronize a plurality of communication devices connected to a common communication line, and problems such as oscillation occur if the line speed of the communication line is slow. It is important that the line speed of the communication line is high.
In addition, in order to be able to transmit the operations of both communication devices in real time, it is necessary to have a closed loop configuration including the communication line, and it is necessary to keep the communication line in a connected state during the transmission of the operation. .
In other words, the environmental conditions for realizing communication are considerably limited, and the communication cost burden when used continuously for a long time is enormous.

On the other hand, in response to the importance of the connection between elderly people living alone and separated families, the cameras installed in the living space can be connected to the communication line to see the life of each other living in remote areas in real time. Systems are also being developed.
However, in actual use, the current situation is that the feeling of being monitored through the camera is strongly held, and it is difficult to accept.
It is also possible to use the still image or moving image shooting function of a popular mobile phone. In this case, the image information and text information are accurate and enormous, but the operation is not only cumbersome but also detrimental. The psychological aspect has also been revealed that it is only possible to get a good connection, and if you do not continue to communicate, you will be worried.

That is, there is a need for a communication device that does not severely limit the usage environment and that does not frustrate the user.
In other words, in other words, there is a need for a communication device that can provide a “relaxed feeling of connection” and a “feeling of relief”.

  Therefore, the problem to be solved by the present invention is to provide a communication apparatus that can be used safely without being severely limited by the use environment.

In order to solve the above problems, the present onset Ming has the following configuration as a unit.
[1] A communication device capable of transmitting and receiving information to and from each other via a communication line when a plurality of communication lines are connected.
Driving means;
A movable part driven by this driving means and relatively displaced with respect to the main body;
Position detecting means for detecting a relative position of the movable part with respect to the main body and outputting it as position information;
Storage means for storing set information in which the position information and desired character information are associated in advance;
A communication means for connecting to a communication line and transmitting the position information or the character information as operation information and receiving operation information transmitted from the outside ;
Control means for controlling the drive means, the position detection means, and the communication means,
The control means includes
When the operation information is received from the outside via the communication line,
When the operation information is the position information, the movable part is displaced to a relative position corresponding to the position information.
When the motion information is the character information, the position information corresponding to the character information is obtained based on the set information stored in the storage means, and the movable part is placed at a relative position corresponding to the position information. Control to displace ,
When the communication means transmits the position information or the character information as the motion information , the communication device controls the displacement of the movable portion so as to take a form corresponding to the transmitted motion information. is there.
[2] The communication device according to [1], further including display means for displaying information, wherein the movable portion can be displaced manually.
Wherein, the character information to the position information corresponding to the form obtained by displacement manual of the movable portion when are associated, characterized in that to display the character information before Symbol display means .

  According to the present invention, there is an effect that the use environment is not strictly limited and the user can be relieved by use.

The preferred embodiments of the present invention will be described with reference to FIGS.
FIG. 1 is a front view for explaining the appearance of an embodiment of a communication apparatus according to the present invention.
FIG. 2 is a block diagram for explaining an embodiment of the communication apparatus of the present invention.
FIG. 3 is a diagram for explaining a state of connection to a communication line in the embodiment of the communication apparatus of the present invention.
FIG. 4 is a flowchart for explaining an embodiment of the communication apparatus of the present invention.
FIG. 5 is a diagram for explaining the correspondence between the form α and the comment β in the embodiment of the communication apparatus of the present invention.

FIG. 1 shows a schematic front view of the communication device 50 of the embodiment.
The communication device 50 is generally formed according to a human form, and includes a trunk portion 50A, a pair of arm portions 50B and a pair of legs 50C attached to the trunk portion 50A, and a neck portion on the trunk portion 50A. And a head 50E attached via 50D.

A display panel 51 made of a liquid crystal panel or the like is attached to the center portion of the front surface of the body portion 50A. The display panel 51 can display images and characters.
Moreover, the arm part 50B is connected with the left-right side surface above the trunk | drum 50A via the shoulder part 50F, respectively. This arm part 50B has a configuration in which a tip part 50B1 and a root part 50B2 are connected via an elbow part 50G.
A speaker 52 is attached to a portion corresponding to the mouth of the head 50E. The speaker 52 outputs sound and the like.
A microphone 53 is attached to each of a pair of left and right parts corresponding to the ears. Audio from outside can be taken in via the microphone 53.
Operation buttons SW1 and SW2 are attached to the distal ends of the pair of leg portions 50C, respectively. The functions of the operation buttons SW1 and SW2 will be described later.

This communication device 50 has a movable part with 9 degrees of freedom. That is, neck portion 50D (3 degrees of freedom): pitch (nodding direction), yaw (rotation direction) and roll (direction), shoulder portion 50F (2 degrees of freedom × 2): pitch, roll, elbow portion 50G (1 degree of freedom) X2) is a total of 9 degrees of freedom.
The leg is fixed (no degree of freedom). These movable parts are independently driven by built-in driving means.
With the structure having this degree of freedom, the neck portion 50D and the arm portion 50B can be displaced with respect to the body portion 50A and can take a free form, and emotion can be expressed by the form.
For example, joy can be expressed by raising the arm with the face (head) facing up, or sadness can be expressed by hanging the head and lowering the arm.

FIG. 2 is a block diagram of the communication device 50 according to the embodiment.
The communication device 50 includes a main CPU 1. The main CPU 1 controls the communication device 50 as a whole.
For the shoulder 50F, elbow 50G and neck 50D, a target value (target angle data) of an angle to be taken by each joint is generated at a predetermined timing during operation, and this is sent to the mechanical control CPU 2.
In the mechanical control CPU 2, the target angle data is serially converted and sent to the motor control CPU 4 in the motor control unit 3 via the serial bus 5.
The motor control CPU 4 compares the output of the angle sensor 6 attached to each driving means and the target angle data, and controls the rotation by rotating the drive motor 7 so that they are the same.
As a result, the joint has a desired angle.

The motor control unit 3 can control three drive motors 7 with one unit. Therefore, a drive motor with 9 degrees of freedom can be controlled by three units.
The driving means is constituted by a driving motor 7 and a gear having a relatively high gear ratio. Therefore, when the transmission of the driving force of the drive motor 7 is cut, the stop position of each movable part can be maintained as it is.
On the other hand, it is also possible to slowly move it from the outside manually while it is stopped. Here, since the movable part does not need to be positioned with high accuracy, even if it moves after stopping, there is no problem as long as it is slight.

The main CPU 1 is equipped with a microphone 53 via an amplifier unit 8 including an amplifier 8a and an AD (analog-digital converter) 8b, and can input audio from the outside as described above.
In addition, a speaker 52 is connected via a driver unit 9 including a driver 9a and a DA (digital analog converter) 9b, and sound can be output to the outside.

A pair of switches SW1 and SW2, which are operation buttons, are button switches that act as triggers.
In addition, a communication interface 54 that can be connected to a communication line either wirelessly or by wire and that can be connected to the Internet or a telephone line via a LAN card or a modem is provided. The communication interface 54 has a buffer 54a.
In addition, a real-time clock 55 that provides time information that can be sent to the outside together with comment information is provided.
Further, it has a USB interface 56 and can be connected to an external personal computer via USB. Thereby, the setting of this apparatus can be performed from the outside using a personal computer.

  The communication apparatus of the embodiment having the above configuration sets a corresponding comment (character string) β for each form α that is variously expressed by the position of each movable part (relative displacement position with respect to the body part 50A). Can do.

For example, in the case of the form α1 in which the angle of the neck portion 50D is equal to or greater than a predetermined angle (for example, 60 ° upward) and the angle of both shoulder portions 50F is equal to or greater than the predetermined angle (for example, 160 ° upward) from the suspended state That is, in the case of a form in which the neck is directed upward and both arms are raised, the comment β1 “Banzai!” Is made to correspond.
The angle of the neck 50D is 40 ° to 60 ° above the front, both shoulders 50F are about 130 ° above the suspended state, and the inner angle of the elbow 50G is 75 ° to 105 °. In the case of the form α2, that is, when the face is faced up slightly and the arm is in a so-called guts pose, the comment β2 “I did it!” Is made to correspond.
In this way, it is possible to freely set a set of comments β for each form α configured by a set of angle data of each joint.

This set data table is created in advance and stored in the memory 57.
The main CPU 1 can read this data table from the memory 57 at a predetermined timing.
The data table can be changed in settings or newly input from an external personal computer. Therefore, setting according to the user's preference is possible. The sender name can also be set from the PC. Other initial settings can be realized via USB.

An example of such combination data is shown in FIG.
This figure is an example in which 1 to m (m is a natural number) is associated between the form α and the comment β.
The form α includes a set of set angles of N degrees of freedom (N is a natural number) of the movable part, and is associated with a combination of this set and a comment.
For example, the corresponding No. 2, the degree of freedom 1 (for example, the angle of the shoulder) is 0 ° ± 5 °, the degree of freedom 2 (for example, the angle of the elbow) is 45 ° ± 5 °, and the degree of freedom 3 (for example, the vertical angle of the neck) is 90 ° ± 20 °, hereinafter, degrees of freedom 4 to (N−1) are appropriately set, and a comment β is expressed as “ "It's hot". Similarly to this, other correspondence No. Are also associated.

The set form α, the comment β, and the set data are shared by a plurality of communication devices connected to the communication line.
When a revision is made in any communication device with respect to this set data, the revised content is sent to the other communication device, and the communication device that has received the revision stores the data stored in its own memory. Revise the received revision.
At this time, the master / slave device may be set for multiple communication devices depending on whether or not the revision instruction is accepted, and the master / slave relationship is managed by a predetermined password to prevent unintended revisions. You may make it the structure to carry out.

Next, connection to the communication line and operation will be described.
FIG. 3 is a diagram for explaining a state in which the communication devices 50 (50X and 50Y in the figure) of the embodiment are connected to the Internet N and the public line K via the communication interface 56 (not shown in FIG. 3). is there.
In the communication device 50X, a desired operation can be performed by a predetermined operation of the operation buttons SW1 and SW2 from a set of a plurality of forms α1 to αn and comments β1 to βn (n: natural number) for which correspondence is set in advance. Determine the form αm or comment βm (m: 1 ≦ m ≦ n natural number), select the sending partner (in the case of FIG. 3, select 50Y), and issue a connection execution instruction. Executes a connection, and when the connection is established, sends form data α or comment data β. When the transmission is finished, the communication device 50X expresses itself.

That is, when the transmitted data is the form data αx, the main CPU 1 moves each movable part with respect to the motor control unit 3 based on each joint angle data constituting the form data αx, so that each joint is predetermined. The sent form is expressed by instructing to be at an angle.
When the sent data is comment data βx, the form data αx corresponding to the comment data βx is read with reference to the data table stored in the memory 57, and based on the form data αx corresponding to the comment data βx, Processing is performed in the same manner as when the transmission data is form data.
Thereby, it is possible to confirm whether or not the transmitted data is an error.

Conversely, when the communication device 50X receives the form data αy or the comment data βy sent from the partner communication device 50Y and the received data is the form data αy, the main CPU 1 configures the form data αy. Based on the respective joint angle data, the motor control unit 3 is moved to move each movable part and instruct each joint to have a predetermined angle. Thereby, the transmitted form is expressed.
When the received data is the comment data βy, the main CPU 1 refers to the data table stored in the memory 57, reads the form data αy corresponding to the comment data βy, and the transmission data is based on the data αy. Processing is performed in the same manner as in the case of form data.

  With the data exchange described above, it is possible to restore the form and comment on the transmission side as they are on the reception side. Furthermore, the communication device is its own avatar and functions as an avatar of the other party.

When selecting which form to use, not only the operation of the operation buttons SW1 and SW2, but also it can be performed by moving each movable part.
For example, an instruction to be transmitted may be executed with an operation button after slowly moving an arm or neck to form a desired expression.
Further, it may be configured such that a comment associated with a form is displayed at the same time, and an appropriate one is selected by looking at the corresponding comment displayed each time the form is moved.
In addition, voice may be sent.
The operation buttons SW1 and SW2 may be pressed to instruct the start of voice input, voice may be recorded using the microphone 53, and the voice may be recognized, converted into text data, and sent as voice text data θ.
In this case, the receiving side can synthesize speech from the received speech text data θ and output it from the speaker 52 as speech.
Further, the voice text data θ may be displayed on the display panel 51 as text.
Further, the input audio signal may be sent after being compressed. In this case, the receiving side decompresses and composites the received audio signal and outputs it as audio from the speaker 52.

FIG. 4 shows an operation flowchart of the communication apparatus 50 according to the embodiment.
This program loops from “END” and repeats “START”.

First, when the program is started, the motion of each joint is read (A1), and it is checked whether the movable part is moving (A2).
In the initial state, since the drive motor 7 is not driven, it is in a stopped state unless it is moved manually. Whether or not it is moving is determined by sampling the output of the angle sensor of each joint a plurality of times and determining whether or not the values are the same. If the sampling values are the same, it is determined that the sample is not moving.
If the joint is moving in this state (A2-Y), it means that the person is about to input a form, and the processing is started.
First, comments corresponding to all forms that can be taken by moving the joint are displayed on the display panel 1 (A15). In many cases, it is displayed by scrolling.
As described above, this comment is set in advance so as to be determined by the combination of the angle values of each joint, and is stored in the memory 57 as a table.

As described above, since the facial expression is determined by the combination of the neck shape and the arm shape, the comment is determined corresponding to each.
In other words, a comment that makes you happy is set when you are raising your neck and arm, and a sad comment is set when you are looking down.
Also, set the corresponding comment to appear when the angle is slightly changed in the vicinity. Of these comments, a desired comment may be set.

Further, the state of the operation buttons SW1 and SW2 of the leg 50C is checked (A16).
These operation buttons SW1 and SW2 can also send a trigger signal for recording voice or transmitting recorded voice data.
For example, when the operation button SW1 is pressed as a predetermined procedure (A17-Y), recording (input of audio data) is performed for a predetermined time from that point (A18). Then, the input voice data is converted into a text code by voice recognition (A19).
Alternatively, the input voice data is compressed (A20). Although this conversion or compression process is not essential, the transmission time can be shortened by selectively performing the conversion or compression process.
Although it is possible to input and transmit audio data and transmit information that cannot be transmitted in the form α or the comment β, the processing of the audio data may be skipped.

Next, the operation button SW2 is checked (A21). By this operation, the form α, the comment β, or the voice data is confirmed and transmitted.
First, angle data of each joint is transmitted as form data α (A23). Then, the comment data β is transmitted (A24). Finally, audio data is transmitted (A25). This step A25 is skipped when recording is skipped.
Further, only one of the form data α and the comment data β may be selected.

Next, the case where it is determined in step (A2) that the joint is not moving (A2-N) will be described.
Since the joint is not moving, if there is received data, it is read to display the form and the comment.

First, the buffer 54a is checked (A3).
The main CPU 1 examines the state of the buffer 54a and reads out any received information.
That is, when the main CPU 1 confirms reception (A4), the main CPU 1 reads data from the buffer (54a) (A26).
Then, the angle setting operation completion flag CMP_FLG is cleared to 0 (zero) (A9), the target angle is set, and the drive motor 7 is driven (A10).
In this control, the target angle is set and fed back so that the difference from the value of the angle sensor 6 becomes 0 (zero) (the target value gradually changes from the current position angle to the final position). (This is to prevent a sudden movement and to avoid a false detection for detecting that a person starts moving the joint during the operation described later).

The main CPU 1 checks whether or not the target value has reached the final target position (A11).
If not reached (A11-N), the value of the angle sensor 6 is read (A12). At this time, if the value does not change compared to the value read last time, the drive motor 7 is driven, but it does not move, and the person has hindered the operation with a joint.
If a value exceeding the predetermined range is obtained (A13-Y), the person is forcibly moving.

In such a case, the main CPU 1 determines that there is an abnormality and stops driving (A14).
When the operation is completed up to the final target (angle) value in step (A11) (A11-Y), the main CPU 1h and CMP_FLG = 1 are set (A6), and a comment is displayed on the display panel 51 (A7). Sound is output from the speaker 52 (A8), and driving is stopped (A14). As described above, even when the driving is stopped, the movable portion maintains the posture at the time of stopping because there is a gear.
On the other hand, in step (A5), the operation button SW2 is checked in the state of CMP_FLG = 1 (A28), and when it is pressed (A29-Y), CMP_FLG = 0 is set (A30). . Therefore, it is possible to reproduce the form and the voice by resetting the form, the comment or the voice again.

In addition, a sender name and a transmission date / time can be added to a comment to be transmitted, so that it is possible to know when (from which communication device) the sender has been sent.
Further, when a communication error occurs, it is set to retransmit each data after confirming that the connection is established. At that time, the communication time is shortened by not retransmitting data that has been transmitted before an error occurs.
Therefore, even if the communication state is poor, data transmission / reception is intermittently performed, so that good communication is possible without limiting the communication environment.
In addition, since communication can be performed satisfactorily even in an environment where mutual communication is established in real time, it is possible to remind the user of a loose connection.

    The embodiment described in detail above is a communication device having a communication function as a form conforming to a human body shape, and a form determined from a combination of positions of each movable part and a character comment previously associated with each form. Can be transmitted to the other communication device via the communication line, while it is set in advance if it is comment data based on the form or comment data sent from the other communication device. Since the form can be restored from the correspondence, the communication line does not need to be high-speed, and a comment corresponding to the operation is always added in communication with the other party, not in real-time monitoring. Unlike the case of synchronizing, a sense of relief is obtained.

In addition, since the motion and the comment correspond to each other, it is easier to include emotion in the transmitted motion information, and the communication device can support the connection between people more psychologically.
In another expression, the operation information set based on the message or form obtained by replacing the operation expression to be transmitted to the other device connected to the communication line via the communication line is indicated. It is a communication device that performs mutual transmission of the motion representation so as to restore the motion information transmitted from the other device to the motion representation.

  The embodiment of the present invention is not limited to the configuration and procedure described above, and it goes without saying that modifications may be made without departing from the scope of the present invention.

It is a front view explaining the external appearance in the Example of the communication apparatus of this invention. It is a block diagram explaining the Example of the communication apparatus of this invention. It is a figure explaining the state connected to the communication line in the Example of the communication apparatus of this invention. It is a flowchart explaining the Example of the communication apparatus of this invention. It is a figure explaining a response | compatibility with the form (alpha) and the comment (beta) in the Example of the communication apparatus of this invention.

Explanation of symbols

1 Main CPU
2 Mechanical control CPU
3 Motor control unit 4 Motor control CPU
5 Serial bus 6 Angle sensor 7 Drive motor 8 Amplifier unit 8a Amplifier 8b AD
9 Driver unit 9a Driver 9b DA
50 communication device 50A body part 50B arm part 50C leg part 50D neck part 50E head part 50F shoulder part 50G elbow part 51 display panel 52 speaker 53 microphone 54 communication interface 54a buffer 55 real time clock 56 USB interface 57 memory SW1, SW2 operation buttons (switches) )
α Form β Comment (string)
θ Speech text data

Claims (2)

A communication device capable of transmitting / receiving information to / from each other via a communication line when a plurality of communication lines are connected,
Driving means;
A movable part driven by this driving means and relatively displaced with respect to the main body;
Position detecting means for detecting a relative position of the movable part with respect to the main body and outputting it as position information;
Storage means for storing set information in which the position information and desired character information are associated in advance;
A communication means for connecting to a communication line and transmitting the position information or the character information as operation information and receiving operation information transmitted from the outside ;
Control means for controlling the drive means, the position detection means, and the communication means,
The control means includes
When the operation information is received from the outside via the communication line,
When the operation information is the position information, the movable part is displaced to a relative position corresponding to the position information.
When the motion information is the character information, the position information corresponding to the character information is obtained based on the set information stored in the storage means, and the movable part is placed at a relative position corresponding to the position information. Control to displace ,
When the communication means transmits the position information or the character information as the motion information , the communication device controls the displacement of the movable portion so as to take a form corresponding to the transmitted motion information . Comprising display means for displaying information, the movable part being displaceable by hand,
Wherein, the character information to the position information corresponding to the form obtained by displacement manual of the movable portion when are associated, characterized in that to display the character information before Symbol display means The communication device according to claim 1.

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